Classifications

• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B7/00—Special methods or apparatus for drilling
  • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
  • E21B7/025—Rock drills, i.e. jumbo drills
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B7/00—Special methods or apparatus for drilling
  • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
  • E21B15/003—Supports for the drilling machine, e.g. derricks or masts adapted to be moved on their substructure, e.g. with skidding means; adapted to drill a plurality of wells
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
  • E21B19/08—Apparatus for feeding the rods or cables; Apparatus for increasing or decreasing the pressure on the drilling tool; Apparatus for counterbalancing the weight of the rods
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B7/00—Special methods or apparatus for drilling
  • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
  • E21B7/024—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting having means for adapting to inclined terrain; having means for stabilizing the vehicle while drilling
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
  • E21B7/00—Special methods or apparatus for drilling
  • E21B7/28—Enlarging drilled holes, e.g. by counterboring
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
  • E21D1/00—Sinking shafts
• • E—FIXED CONSTRUCTIONS
  • E21—EARTH OR ROCK DRILLING; MINING
  • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
  • E21D3/00—Raising shafts, i.e. working upwards from the bottom

Definitions

• the present invention relates to a method for positioning a drilling arrangement underground.
• the invention also relates to a rock drilling configuration and a computer program product comprising program code for an electronic control unit associated with said rock drilling configuration to perform the method.
• the invention can relate to the manufacturing industry for mining equipment and to the mining industry in general, but is not limited to this.
• Today's technology to drill in rocks underground sometimes requires that an operator has to move his drill rig from the drift, where it is currently located, to another drift above in order to be able to drill downwards. That way there is avoided cumbersome handling of the drilling equipment.
• Today's technology also provides that when an operator, after having drilled in a first direction, shall change the orientation of the drilling equipment to drill in a second direction, he is forced to handle cumbersome and bulky retaining structures. These retaining structures for holding the drilling equipment thus cause a large amount of work in the case where an operator turns the drilling equipment to drill in a second direction.
• Today's technology thus causes a large amount of work when handling a drilling arrangement in narrow drifts.
• US 3 220 494 discloses a drilling arrangement comprising a vehicle, known as a carrier, coupled to a drilling equipment.
• the drilling equipment comprises a derrick, which is bolted to the rock in position for drilling.
• the drilling equipment further comprises a drive head fitted between hydraulic cylinders for driving of drill holes.
• One object of the present invention is to provide a novel and advantageous method for positioning a drilling arrangement and which uses a space of for example a drift in an optimal way.
• One object of the invention is to provide a non-bulky rock drilling configuration.
• One object is to achieve a flexible rock drilling configuration.
• One object of the present invention is to provide a novel and advantageous method for positioning a drilling arrangement which easily may be transported by a carrier in a space in a flexible way, in particular during raise boring.
• One object is thus to by means of a vehicle transport and position a drilling arrangement as close to a drift wall as possible, without the need of disconnecting the vehicle from the drilling arrangement for correct positioning of the drilling arrangement for final position.
• Another object of the invention is to provide a novel and advantageous rock drilling configuration for driving of bore holes and an advantageous computer program pertaining to a rock drilling configuration.
• Yet another object of the invention is to provide a rock drilling configuration which is cost effective to use with regard to of time and safety aspects.
• Yet another object of the invention is to provide a rock drilling configuration which is easy to manufacture and which can be provided cost effectively. Yet another object of the invention is to provide a rock drilling configuration and a method that is user friendly.
• a method for positioning a drilling arrangement comprising a rotational centre underground.
• the method comprises: - providing said drilling arrangement carried by a positioning device rigidly connected to a carrier means;
• a method for positioning a drilling arrangement underground comprising a rotational centre, wherein the drilling arrangement is a raise boring arrangement.
• the method comprises:
• the rotational centre of the drilling arrangement is preferably defined by the rotational centre for a chuck of a drive head of the drilling arrangement.
• the rotational centre is defined by the drilling axis of the drilling arrangement.
• the rotational centre of the drilling arrangement for the chuck of the drive head may be positioned to the side relative to the centre line of the carrier, without the need of mining the drift wall to make room for the end wagon of the carrier means.
• the drilling arrangement is arranged for driving a boring head in two from the drift oppositely extending holes after positioning.
• the drilling arrangement may for example be a so called raise boring arrangement where driving (the drive member is operating a drive head comprising a rotating chuck) is achieved by in a first step pressing by means of the chuck a rotating drill bit for drilling a pilot hole and thereafter, in a second step, the driving is turned (the drive member is operating the rotating chuck by traction force) by means of the chuck rotating a reaming head in an opposite direction.
• the step of positioning the drilling arrangement to the side is performed with a pivoting movement.
• the positioning device comprises a pivoting means in the form of a pivoting device connected adjacent and outside the front end of the carrier means/vehicle, wherein the drilling arrangement is pivotally arranged about an axis extending in a direction across the front wheel axis of the carrier means and across the centre line CL.
• the step of positioning the drilling arrangement to the side is performed with a linear movement by means of a linearly movable coupling means.
• a positioning device is achieved which during transport of heavy drilling arrangements may hold the latter close to the side of the end of the vehicle and simultaneously, when positioning, pushing the rotational centre (rotational centre of the chuck) of the drilling arrangement straight to the side from the centre line of the vehicle and outside the circumference of the vehicle.
• the step of positioning the drilling arrangement also comprises a tilt movement.
• the tilt movement suitably comprises a rotation about an axis extending parallel to the wheel axis of the carrier.
• the drilling arrangement may thus be tilted to a transport position for transport of the drilling arrangement in the drift as well as tilted to an arbitrarily angle relative to the extension of the drift before said positioning.
• a tilt means is arranged to allow tilting of the drilling arrangement up to plus/minus 45 degrees about an axis parallel to the wheel axis of the vehicle and towards the extension of the centre line of the vehicle.
• tilting of plus/minus 90 degrees with reference to a horizontal plane is allowed.
• all relevant angles of bore holes relative to the extension of the drift during raise boring may be achieved.
• the step of positioning the drilling arrangement also comprises a swivel movement.
• the swivel movement suitably comprises a rotation about an axis which in the original position of the drilling arrangement before positioning coincides with the extension of the centre line.
• the drilling arrangement may be rotated in a roll plane.
• a swivel means is arranged to allow said swivel movement.
• the drilling arrangement may by means of the swivel means easily be positioned with an inclination (or with an arbitrarily rotation seen in a cross section across the longitudinal direction of the drift) in a rock space or drift.
• the step of positioning the drilling arrangement comprises one or more positioning movements in the form of a pivoting movement and/or a linear movement and/or a tilt movement and/or a swivel movement.
• the step of positioning the drilling arrangement comprises at least two positioning movements.
• the positioning of the drilling arrangement is performed by means of controlling by a control unit. Alternatively all positioning movements are performed simultaneously by means of controlling by the control unit.
• the method comprises the step of after positioning, securing a drive member support device arranged to the drilling arrangement at said position. This way the drilling arrangement is held and supported in said position against walls of the drift.
• the drilling arrangement is secured both at an upper end of the drilling arrangement and at a lower end of the drilling arrangement. The securement may be achieved by support legs arranged at the drilling arrangement. This way there is achieved a flexible and advantageous method for positioning a drilling arrangement.
• the derrick has drive members in form of for example hydraulics, which is operating the drive head of the drilling arrangement in a direction coinciding with the rotational centre of the chuck for drilling.
• the drilling arrangement may be disconnected from the positioning device and thereby a carrier means after said positioning. This way forces and vibrations occurring during drilling affecting the positioning device and the carrier means are avoided. This is in particular important during raise boring.
• the drilling arrangement is secured to the walls of the drift before said disconnection from the positioning device so that the drilling arrangement stays in position for drilling after the disconnection.
• the method also comprises a step of after positioning driving a first bore hole between a first space where the drilling arrangement is positioned and a second space, and driving a second bore hole between the first space and a third space.
• the method comprises a step of after positioning of the drilling arrangement driving at least one bore hole in at least one direction.
• the drilling is performed after said drilling arrangement has been secured in its position for drilling.
• the drilling arrangement advantageously may be used during reaming boring, raise boring and other drilling where two holes extending from a first space shall be drilled.
• the two holes do not have to be in line but angles may occur.
• Advantageously said holes end in a respectively second and third space.
• the method may suitably be performed by means of controlling by a control unit and a computer being associated to this.
• the control unit is arranged to be operable by an operator.
• said positioning is performed by means of said control unit and locking wedges or other locking means is controlled to lock the relevant devices or device for positioning
• Preferably said positioning is performed semi-automatically or manually.
• a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably configured for positioning a rotational centre of the drilling arrangement for driving of bore holes beside a relative to the carrier means defined centre line.
• a rock drilling configuration comprising a positioning device and a drilling arrangement, wherein said drilling arrangement is a raise boring arrangement, which positioning device is arranged to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said positioning device comprises a pivoting means and/or linearly movable coupling means.
• the rotational centre of the drilling arrangement of the chuck of the drive head may be positioned laterally relative to the centre line of the carrier means, without the need of any mining of drift walls to be performed so as to accommodate the rear end wagon of the carrier means.
• the carrier means is suitably a vehicle.
• the drilling arrangement provides a rotational centre for driving of bore holes.
• the vehicle may drive in a relatively narrow drift, positioning in a simple and flexible manner said drilling arrangement, in order to drill only one hole.
• the vehicle may also drive in a relatively narrow drift, positioning the drilling arrangement based on desired angles and drill two or more holes.
• the drilling arrangement is arranged for raise boring.
• the present positioning device may advantageously be used by a drilling arrangement being arranged for raise boring, wherein the derrick and drive member support device for supporting the drilling arrangement may be positioned in a simple and cost effective way by means of a vehicle in a drift.
• the positioning device comprises a pivoting means and/or a linearly movable coupling means.
• the pivoting means may comprise a pivoting device, a pivoted joint, a pin joint, a hinge or similar.
• the linearly movable coupling means may comprise one or more guiding means, a traverse like device and different types of driving means.
• the positioning device comprises a tilt means and/or a swivel means.
• the drilling arrangement is detachably arranged at the positioning device.
• the positioning device comprises a control unit configured to control said rotational centre in position beside the centre line by means of simultaneous control of at least two of said means.
• the drive member support device may be bracing legs comprising support plates arranged for bracing against the walls of the space.
• the bracing legs are in this case configured to support the feed member (such as hydraulic cylinders, pneumatic cylinders etc.).
• the feed member feeds the drive head and thereby the drill string means comprising drill steel and drill bit in the direction of the bore hole.
• control unit for controlling said positioning.
• a control unit pivots and linearly pushes to the side and tilts the drilling arrangement relative to the vehicle. Possibly a swivel movement is performed. These different movements may be controlled independently or be simultaneous.
• the control unit thus provides the positioning of the drilling arrangement to a chosen position, controls and performs a check of operative pressure both regarding operation of the drill string in the direction of the bore hole as well as rotation of the drill string.
• the number of holes the drill arrangement can manage when positioning may be one or more.
• Said objects are also achieved by a vehicle comprising the drilling arrangement, which vehicle may be a motor vehicle.
• the vehicle may be a drill rig suitable for mining.
• a computer program pertaining to a rock drilling configuration wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on said electronic control unit associated with the rock drilling configuration.
• a computer program pertaining to a rock drilling configuration wherein said computer program comprises a program code for performing the method steps according to any of claims 1-5, when the computer program is run on said electronic control unit associated with the rock drilling configuration.
• a computer program product comprising a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when a computer program is run on an electronic control unit associated with the rock drilling configuration.
• a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the drilling arrangement.
• a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, which positioning device is rigidly mountable to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the rock drilling configuration.
• a computer program pertaining to a rock drilling configuration comprising a positioning device and a drilling arrangement, wherein the drilling arrangement is a raise boring arrangement, which positioning device is connected to a carrier means, wherein said positioning device is controllably arranged for positioning a rotational centre of the drilling arrangement for driving bore holes beside a relative to the carrier means defined centre line, wherein said computer program comprises a program code stored on a by a computer readable medium for performing the method steps according to any of claims 1-5, when the computer program is run on an electronic control unit associated with the drilling arrangement.
• a computer program product comprising a program code stored on a, by a computer readable medium, for performing the method steps according to any of claims 1-5, when a computer program is run on an electronic control unit associated with the rock drilling configuration.
• the drilling arrangement per se may comprise a remote controlled vehicle transporting the equipment to the designated location.
• the vehicle may be adapted for autonomous control.
• a communication link may be a physical line, such as an opto-electric communication line, or a non-physical line such as a wireless connection, for example a radio or microwave link.
• Figure 1 illustrates a vehicle carrying a drilling arrangement according to an embodiment of the invention
• Figure 2 illustrates the vehicle in Figure 1 during positioning of the drilling arrangement
• Figures 3a to 3c illustrates a lateral movement means according to an embodiment
• Figure 4 illustrates a lateral movement means comprising two roller paths according to an aspect of the invention
• Figure 5 illustrates an aspect of the invention in relation to known drilling arrangements
• Figure 6 illustrates an embodiment for positioning involving swivel functionality
• Figure 7a to 7d illustrate an aspect of the invention for positioning a derrick for raise boring
• FIG. 8a and 8b illustrate further aspects of the invention
• Figure 9a and 9b illustrate a further aspect of the invention
• Figures 10a and 10b illustrate a flow chart over methods according to an aspect of the invention.
• FIG. 11 illustrates a control unit according to an embodiment of the invention. DETAILED DESCRIPTION OF THE DRAWINGS
• a vehicle 1 is shown.
• the exemplified vehicle 1 is according to an embodiment a so called mining machine 3 adapted for mining.
• the vehicle 1 is a motor vehicle having four wheels 5 and is provided with a drilling arrangement 7 with possibility to make at least one raise hole (not shown) at one and the same position of the drilling arrangement 7.
• the drilling arrangement 7 is shown in Figure 1 in a transport position for transportation to the position for drilling from a space 9.
• Figure 2 illustrates the vehicle 1 in Figure 1 during positioning of the drilling arrangement 7.
• the drilling arrangement 7 is carried adjacent or in close proximity of the front 11 of the vehicle 1. This is achieved for reducing the lever length between the front wheel pairs 5 of the vehicle 1 and the drilling arrangement 7. This is also achieved so as to achieve a compact unit.
• the drilling arrangement 7 is placed in a position between two wall portions 8 of the space 9, wherein the elongation of the drilling arrangement 7 is oriented in the direction for a hole to be drilled.
• the vehicle 1 is according to this embodiment controlled by an operator (not shown) by means of a first control unit 100.
• a communication link between the drilling arrangement and the control unit is shown by a reference numeral L100.
• a second control unit 110 is arranged for communication with the first control unit 100 and is an external control unit which is used to load software to the first control unit 100 via the link L110 which is part of an internal network of the vehicle 1.
• the operator operates the drilling arrangement 7 to a first position, wherein the chuck is turned to the position for the first borehole to be drilled, and the control unit 100 ensures locking of the drive unit 19.
• a first drill steel (see Figure 7d) is arranged in engagement with the chuck at one end and its other end is provided with a drill bit. Mounting of the drill steel is performed by the operator via the control unit 100.
• the control unit 100 thereafter provides, during monitoring by the operator, driving of the drill bit and the control unit 100 continuously controls hydraulic pressure both regarding pressure applied to hydraulic cylinders 17 and pressure driving rotation of the drive unit 19 for rotation of the drill bit.
• the control unit 100 thus controls operation of the drive unit 19 by means of control signals via the link L100.
• a second drill steel (not shown) is connected to the first drill steel and subsequent drill steels are connected when the drill bit works its way into the rock.
• the control unit 100 provides controlling of said positioning of the drilling arrangement 7 at the side of the centre line CL of the vehicle (as exemplified in Figure 3c) or at least at the side of the extension of the centre line CL adjacent to the front end portion 11 of the vehicle.
• the control comprises transporting of the drilling arrangement 7 to a designated position for drilling by means of the vehicle 1 and positioning of said drilling arrangement 7 beside the relative to the vehicle 1 defined centre line CL by means of a positioning device 21 connected to the vehicle 1.
• Figure 3a to 3c illustrate an aspect of the invention where the positioning of the drilling arrangement 7 relative to the centre line CL of the vehicle 1 is performed by means of dislocation of a pivoting means in the form of a pivoting device 23 along a linear I-beam 25 made of steel which is transverse to the centre line CL of the vehicle 1, on which a cable run sledge 27 is slidably arranged.
• the pivoting device 23 also provides that the drilling
• FIG. 4 schematically illustrates a positioning device 31 according to an aspect of the invention.
• the vehicle 1 is provided with a rigidly connected frame work 35 of a joint element 37.
• the joint element 37 comprises two beams 39, wherein one is a screw beam on which a driving rotatable drive rotor 41 is engaged.
• the drive rotor 41 is located in a box 43 and is coupled to a hydraulic motor 45 for driving the box 43 linearly along the screw beam 39 when activated.
• said positioning device 31 may comprise at least one telescope cylinder.
• the second beam 39 is provided for controlling.
• the engine 45 is connected to the control unit 100.
• a pivoting means is mounted on the box 43, which pivoting means may be in the form of a pivoting device 39'.
• the pivoting device 39' comprises two roller paths 47 for supporting a device 49.
• the pivoting device 39' may comprise an arbitrarily number of roller paths 47.
• the device 49 is pivotally arranged about a pivot axis 51 by two hydraulically driven gear wheel engines 53.
• the device 49 is further configured with two holes 55 for mounting of a drilling arrangement 7 (not shown) with aid of a conically formed bolt (not shown).
• Figure 5 illustrates an aspect of the invention in relation to known drilling arrangements wherein there is shown schematically with a broken line a vehicle 1 having a drilling
• Figure 6 schematically illustrates an embodiment of the invention achieved by a positioning device and comprising a swivel movement.
• the carrier means is formed by a platform 2 comprising a pivotally arranged robotic arm 57, which provides a swivel means in the form of a swivelling coupling 59 connected to a pivoting means in form of a pivoting device 23'.
• the swivelling movement is achieved by a hydraulic motor (not shown) being engaged by gears driving the swivelling coupling 59 for rotation about an axis which is parallel to the centre line of the carrier means.
• Hydraulic units 61 are provided at the different connections for achieving a pivoting movement of the pivoting device 23' and a tilt means in the form of a tilt coupling 63.
• FIGS. 7a to 7d schematically illustrate an aspect of the invention for positioning of a drilling arrangement 7 comprising a derrick 65.
• a vehicle 1 is provided with a positioning function for lateral positioning of a drilling arrangement 7 only by pivoting a pivoting means in the form of a pivot joint 67.
• the pivoting area is plus/minus 110 degrees about the centre line CL of the vehicle.
• Figure 7b there is illustrated how the drilling arrangement 7 is to the side positioned at the vehicle 1 so that the rotational centre 29 is placed beside the elongation of the centre line CL and also outside a thought line L determined by the extent of the vehicle 1 laterally.
• the drilling arrangement 7 is also tilted by means of tilt means 63' for fitting in the cross section of the drift.
• Figure 7c illustrates how the drilling arrangement 7 has been detached from the vehicle 1 after said positioning.
• said support legs 13 of the drilling arrangement is braced against the wall of the drift illustrated in said cross section view. Because of the tilting movement the drilling arrangement 7 has been positioned inclined in the drift.
• the support legs 13 carry and support drive cylinders 17' which are provided to drive a drive head 19' in two directions.
• the drive head 19' is pivotally arranged about an axis A extending across the direction of movement of the feed cylinders 17'.
• a drill string 69 comprising a drill bit 71 is arranged in engagement with a chuck of the drive head 19'.
• Figures 8a to 8b schematically illustrate further aspects of the invention.
• Figure 8a illustrates from the side a vehicle 1 comprising a drilling arrangement 7 which can be laterally positioned and tilted plus/minus 30 degrees. Because of this generous degree of freedom regarding tilting drilling may be performed at all angles relatively the drift 9'.
• a support 73 may be lowered or raised in a solid part of a pivoting device 23". The support 73 is supporting the drilling arrangement 7 during drilling.
• Figure 8b illustrates a drilling arrangement 7 which has been positioned in a niche N of a side wall of a drift. Provision of the drilling arrangement 7 has been achieved by means of a positioning device illustrated in Figure 6. With reference to for example Fig.
• a vehicle 1 having a to the side positioned drilling arrangement 7 according to an aspect of the invention.
• the vehicle is provided with a in a laterally movable and pivotally drilling rotational centre 29 of a drilling arrangement 7 which is arranged in such a way that said drilling rotational centre 29 may be positioned to the side of the centre line CL of the vehicle 1.
• the positioning is provided by operation by an operator.
• the operator operates a computer having a display (not shown) connected to a control unit 100.
• the positioning is performed semi-automatic.
• said drilling rotational centre 29 of the drilling arrangement 7 may be positioned on the centre line CL of the vehicle 1 according to an aspect of the invention.
• FIG. 9a schematically illustrate a further aspect of the invention in its most simple form.
• Figure 9a illustrates how a vehicle 1 in a narrow drift is transporting a drilling
• the vehicle 1 has a centre line CL, which intersects the vehicle 1 centrally and is thought longitudinally oriented.
• the centre line CL is thus elongated in the transport direction of the vehicle 1.
• Figure 9b illustrates how the vehicle 1 has stopped at a positioning position.
• the drilling arrangement 7 has a rotational centre 29 for a drill chuck (not shown). Said rotational centre 29 is positioned by means of a control unit 100 to the side seen in the direction of movement of the vehicle 1. I.e. the drilling arrangement is positioned and placed to the side to the right of the vehicle seen in the direction of movement F of the vehicle illustrated in Figure 9a.
• FIG. 10a illustrates a method for positioning 300 a drilling arrangement 7.
• the drilling arrangement 7 may be a raise boring arrangement.
• the method provides said drilling arrangement 7 carried by a positioning device 21 connected to a carrier means 1.
• the carrier means such as a mining vehicle, is transporting the drilling arrangement 7 to a designated position for drilling.
• the step 300 comprises to provide said drilling
• FIG. 10b illustrates a method wherein a vehicle 1 is transporting 400 a drilling arrangement 7.
• the drilling arrangement 7 may be a raise boring arrangement. Thereafter the vehicle 1 stops 401 at a designated location.
• the drilling arrangement 7 is pushed to the side 403 with a linear movement.
• the drilling arrangement 7 is pivoted in a direction to the side 404 so that the rotational centre 29 for drilling of the drilling arrangement 7 is positioned further to the side and also in a direction backwards seen in a previous direction of movement of the vehicle 1.
• the drilling arrangement 7 may be achieved when necessary. Thereafter the drilling arrangement 7 is secured against the rock which should be processed and drilling 406 is thereafter performed. When the drilling is done the drilling arrangement 7 is turned back to an original position 47 in line with the centre line CL of the vehicle 1.
• Figure 11 illustrates a control unit 100 according to an embodiment of the invention.
• the motor units of the lateral positioning means are integrated units for operating the lateral positioning means.
• the motor units comprise each a worm gear which in turn is in operative connection with respective lateral positioning means.
• FIG 11 there is illustrated a diagram of an embodiment of a device 500.
• the control units 100 and 110 depicted with reference to Figure 2 comprises said device 500 according to this embodiment.
• the device 500 comprises a non-volatile memory 501, a data processing unit 502 and a read/write memory 503.
• the non-volatile memory 501 provides a first memory portion 504, wherein a computer program, such as an operative system, is stored for controlling the function of the device.
• the device comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transmission unit, event counters and an interruption controller (not shown).
• the non-volatile memory 501 also has a second memory portion 505. It is provided a computer program P comprising routines for providing said lateral positioning and positioning according to an embodiment.
• the program P comprises routines for positioning the lateral positioning means moving and pivoting the drilling arrangement 7 to the side.
• the program P further comprises routines for tilting the drilling arrangement 7 and drilling.
• the program P is in this embodiment stored in an executable manner or in a compressed manner in a memory and/or a read/write memory.
• the data processing unit 500 may communicate with a data port 507 via a data bus 508.
• the non-volatile memory 501 is arranged for communication with the data processing unit 502 via en data bus 510.
• the separate memory 506 is arranged to communicate with the data processing unit 502 via a data bus 511.
• the read/write memory 503 is also arranged to communicate with the data processing unit via data bus 512.To the data port 507 may e.g. the links L100 and L110 be connected (see Figure 2).
• signals received on the data port comprises information about current position of the drilling arrangement 7 relatively the centre line CL of the vehicle and relatively determined position for drilling.
• signals received on the data port 507 comprises information about completed positioning of the drilling arrangement 7. Said information may be measured by means of suitable sensors or be fed manually into the first control unit by means of a touch screen (not shown).
• the received signals on the data port may be used by the device to control and adjust the positioning of the drilling arrangement 7 and depending upon detected current measurements relating to the current position of the drilling arrangement 7 relatively the position for drilling.
• Parts of the methods depicted herein are performed by the device by means of the data processing unit 502 running the program stored in the memory or in the read/write memory and when the device runs said program said methods are executed.
• the drilling arrangement may per se comprise a remote controlled vehicle transporting equipment to a designated location.
• the vehicle may also be adapted for autonomous control.
• a remote controlled vehicle transporting equipment to a designated location.
• the vehicle may also be adapted for autonomous control.
• a remote controlled vehicle transporting equipment to a designated location.
• the vehicle may also be adapted for autonomous control.
• communication link may be a physical line, such as an opto-electronic communication line, or a non-physical line, such as a wireless connection, for example a radio or micro wave link.
• Drilling may be referred as raise boring or other drilling where it is tried to connect a space with two other spaces and the spaces are arranged in a plane, horizontal, vertical or in between.
• centre line of the vehicle is in hereby determined to be a thought line centrally through the vehicle and which is extended in the extension of the vehicle, which refers to the main direction of transportation of the vehicle.
• the herein defined centre line is defined as a thought line extending a portion in front and behind the vehicle, such as up to 3 to 7 meters from the vehicle.
• the centre line is defined as a symmetric thought line extending in the length direction and/or direction of movement of the vehicle.
• the linear positioning means may comprise one or more guiding means, a traverse like device and different kinds of driving, such as electrical, pneumatic and/or hydraulic driving of engine driving worm drive, toothed transmission gear, cable driving means or other suitable means.
• the pivoting means may except from a pivoting device comprise any other kind of pivoting element for example a pin hinge, butt hinge or else.
• An aspect of the invention refers to so called raise boring.
• Raise boring is often used for driving bore holes, such as shafts and/or raises between a first, second and third space.
• By raise boring spaces of different levels or horizontally distributed spaces in a mine can be connected for communication, wherein for example ventilation, material transport or elevator may be arranged.
• the often required high feeding pressure may be achieved by a derrick associated with the drilling arrangement is attached by for example bracing legs, which presses support plates (grippers) to opposite walls of the first space.
• Double acting hydraulic cylinders are manoeuvred to push a drive head in a first direction affecting a drill string with a drill bit arranged at its most outer end.
• the drill string may provide sections of drill steel, drill rods, drill pipes etc. which sections are built on or is removed depending on feeding direction.
• the drilling arrangement may according to an aspect of the invention be remote controlled, wherein an operator from a distance from the drill arrangement, for example from ground level, may control the inventive method.
• the drilling arrangement may be a remote control vehicle provided with the drilling arrangement, whereby an operator from a distance is controlling the vehicle to designated location for drilling, performs drilling and then back again.
• the drilling arrangement may be a remote control vehicle provided with the drilling arrangement, whereby an operator from a distance is controlling the vehicle to designated location for drilling, performs drilling and then back again.
• arrangement comprises a carrier which is autonomous, wherein an operator only has to start the method and the process is performed automatically until completion.

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• Engineering & Computer Science (AREA)
• Mining & Mineral Resources (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• General Life Sciences & Earth Sciences (AREA)
• Geochemistry & Mineralogy (AREA)
• Physics & Mathematics (AREA)
• Environmental & Geological Engineering (AREA)
• Fluid Mechanics (AREA)
• Mechanical Engineering (AREA)
• Earth Drilling (AREA)
• Drilling And Boring (AREA)

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Cited By (3)

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• 2013
  • 2013-03-01 SE SE1350252A patent/SE538665C2/sv unknown
• 2014
  • 2014-02-28 WO PCT/SE2014/050245 patent/WO2014133445A2/en active Application Filing
  • 2014-02-28 EP EP14712058.8A patent/EP2961909A2/en not_active Withdrawn
  • 2014-02-28 MX MX2015010982A patent/MX2015010982A/es unknown
  • 2014-02-28 CA CA2898611A patent/CA2898611C/en active Active
  • 2014-02-28 AU AU2014221434A patent/AU2014221434B2/en active Active
  • 2014-02-28 RU RU2015141611A patent/RU2695196C2/ru active
  • 2014-02-28 CN CN201480011348.9A patent/CN105026677B/zh active Active
• 2015
  • 2015-08-31 CL CL2015002441A patent/CL2015002441A1/es unknown

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